Isabella Gomez Torres
/
IMU6050
additional edits to James’ code
Diff: MPU6050.h
- Revision:
- 9:898effccce30
- Parent:
- 8:b1570b99df9e
- Child:
- 10:bd9665d14241
--- a/MPU6050.h Fri Feb 13 01:16:00 2015 +0000 +++ b/MPU6050.h Thu Feb 19 00:15:52 2015 +0000 @@ -83,9 +83,9 @@ #define RADIANS_TO_DEGREES 180/3.1415926536 -#define ALPHA 0.97 //filter constant +#define ALPHA 0.96 //filter constant -#define GYRO_SCALE 2.31 //scale the gyro +#define GYRO_SCALE 2.7176 //scale the gyro /** MPU6050 IMU library. * @@ -276,13 +276,14 @@ void computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime); void enableInt( void ); void disableInt( void ); - + void setAlpha(float val); private: I2C connection; char currentAcceleroRange; char currentGyroRange; + float alpha; };